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Hi Dave,<br>
<br>
kdl_wrapper is a very thin package, it basically wraps <b>kdl_parse</b><b>r</b>
to make it quicker to get a kinematic chain definition from a
URDF-defined robot. I included an example with the PR2 in the src
folder, for initialization you just have to specify the root and tip
links of the chain:<br>
<br>
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<span class="n" style="color: rgb(51, 51, 51); font-family:
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white-space: pre; widows: auto; word-spacing: 0px;
-webkit-text-stroke-width: 0px; background-color: rgb(255, 255,
255);"> pr2_kdl_wrapper</span><span class="p" style="color:
rgb(51, 51, 51); font-family: Consolas, 'Liberation Mono',
Courier, monospace; font-size: 12px; font-style: normal;
font-variant: normal; font-weight: normal; letter-spacing: normal;
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background-color: rgb(255, 255, 255);">.</span><span class="n"
style="color: rgb(51, 51, 51); font-family: Consolas, 'Liberation
Mono', Courier, monospace; font-size: 12px; font-style: normal;
font-variant: normal; font-weight: normal; letter-spacing: normal;
line-height: 18px; orphans: auto; text-align: start; text-indent:
0px; text-transform: none; white-space: pre; widows: auto;
word-spacing: 0px; -webkit-text-stroke-width: 0px;
background-color: rgb(255, 255, 255);">init</span><span class="p"
style="color: rgb(51, 51, 51); font-family: Consolas, 'Liberation
Mono', Courier, monospace; font-size: 12px; font-style: normal;
font-variant: normal; font-weight: normal; letter-spacing: normal;
line-height: 18px; orphans: auto; text-align: start; text-indent:
0px; text-transform: none; white-space: pre; widows: auto;
word-spacing: 0px; -webkit-text-stroke-width: 0px;
background-color: rgb(255, 255, 255);">(</span><span class="s"
style="color: rgb(221, 17, 68); font-family: Consolas, 'Liberation
Mono', Courier, monospace; font-size: 12px; font-style: normal;
font-variant: normal; font-weight: normal; letter-spacing: normal;
line-height: 18px; orphans: auto; text-align: start; text-indent:
0px; text-transform: none; white-space: pre; widows: auto;
word-spacing: 0px; -webkit-text-stroke-width: 0px;
background-color: rgb(255, 255, 255);">"torso_lift_link"</span><span
class="p" style="color: rgb(51, 51, 51); font-family: Consolas,
'Liberation Mono', Courier, monospace; font-size: 12px;
font-style: normal; font-variant: normal; font-weight: normal;
letter-spacing: normal; line-height: 18px; orphans: auto;
text-align: start; text-indent: 0px; text-transform: none;
white-space: pre; widows: auto; word-spacing: 0px;
-webkit-text-stroke-width: 0px; background-color: rgb(255, 255,
255);">,</span><span style="color: rgb(51, 51, 51); font-family:
Consolas, 'Liberation Mono', Courier, monospace; font-size: 12px;
font-style: normal; font-variant: normal; font-weight: normal;
letter-spacing: normal; line-height: 18px; orphans: auto;
text-align: start; text-indent: 0px; text-transform: none;
white-space: pre; widows: auto; word-spacing: 0px;
-webkit-text-stroke-width: 0px; background-color: rgb(255, 255,
255); display: inline !important; float: none;"> </span><span
class="s" style="color: rgb(221, 17, 68); font-family: Consolas,
'Liberation Mono', Courier, monospace; font-size: 12px;
font-style: normal; font-variant: normal; font-weight: normal;
letter-spacing: normal; line-height: 18px; orphans: auto;
text-align: start; text-indent: 0px; text-transform: none;
white-space: pre; widows: auto; word-spacing: 0px;
-webkit-text-stroke-width: 0px; background-color: rgb(255, 255,
255);">"r_gripper_tool_frame"</span><span class="p" style="color:
rgb(51, 51, 51); font-family: Consolas, 'Liberation Mono',
Courier, monospace; font-size: 12px; font-style: normal;
font-variant: normal; font-weight: normal; letter-spacing: normal;
line-height: 18px; orphans: auto; text-align: start; text-indent:
0px; text-transform: none; white-space: pre; widows: auto;
word-spacing: 0px; -webkit-text-stroke-width: 0px;
background-color: rgb(255, 255, 255);">)</span><br>
<br>
<br>
I can make that clarification perhaps in the description of the
package.<br>
<br>
<br>
Cheers,<br>
<br>
Francisco<br>
<br>
<div class="moz-cite-prefix">On 12/16/2013 06:33 AM, Dave Coleman
wrote:<br>
</div>
<blockquote
cite="mid:CAFJzPMuYj-KoX6MFOkxE2xD69RX77L-Pmt-8ZcOjhvo0CcqT-w@mail.gmail.com"
type="cite">
<meta http-equiv="Content-Type" content="text/html;
charset=ISO-8859-1">
Great work Francisco, thanks for the contributions!
<div><br>
</div>
<div>However, how does your kdl_wrapper package differ from the
established URDF <a moz-do-not-send="true"
href="http://wiki.ros.org/kdl_parser?distro=hydro">kdl_parser</a> package
and MoveIt's <a moz-do-not-send="true"
href="https://github.com/ros-planning/moveit_ros/tree/hydro-devel/planning/kdl_kinematics_plugin">kdl_kinematics_plugin</a> and
kdl-based <a moz-do-not-send="true"
href="https://github.com/ros-planning/moveit_core/tree/hydro-devel/dynamics_solver">dynamics
solver</a>? Perhaps these packages could be merged/centralized
to prevent duplication of functionality?</div>
<div><br>
</div>
<div>Dave<br>
<br>
On Friday, December 13, 2013, Francisco Viña wrote:<br>
<blockquote class="gmail_quote" style="margin:0 0 0
.8ex;border-left:1px #ccc solid;padding-left:1ex">
<div bgcolor="#FFFFFF" text="#000000"> Hi,<br>
<br>
The Royal Institute of Technology (KTH, Sweden) is proud to
announce the release of <a moz-do-not-send="true"
href="http://wiki.ros.org/kth-ros-pkg" target="_blank">kth-ros-pkg</a>.
Some of our packages include:<br>
<br>
<ul>
<li><b><a moz-do-not-send="true"
href="http://wiki.ros.org/biotac_driver"
target="_blank">biotac_driver</a>:</b> catkinization
of UPenn's Haptics group's low level drivers for the <a
moz-do-not-send="true"
href="http://wiki.ros.org/BioTac" target="_blank">Biotac
sensor</a>.</li>
</ul>
<ul>
<li><b><a moz-do-not-send="true"
href="http://wiki.ros.org/force_torque_tools"
target="_blank">force_torque_tools</a>:</b>
force-torque sensor calibration and gravity
compensation.</li>
</ul>
<ul>
<li><b><a moz-do-not-send="true"
href="http://wiki.ros.org/kdl_acc_solver"
target="_blank">kdl_acc_solver</a>:</b> KDL solver
for calculating cartesian accelerations from joint
positions, velocities and accelerations.</li>
</ul>
<ul>
<li><b><a moz-do-not-send="true"
href="http://wiki.ros.org/kdl_wrapper"
target="_blank">kdl_wrapper</a>:</b> C++ wrapper for
easily getting KDL kinematic chains and using KDL
kinematic solvers with robots defined in ROS through
URDF in the parameter server.</li>
</ul>
Future packages will include :<br>
<ul>
<li><a moz-do-not-send="true"
href="http://wiki.ros.org/door_opening_control"
target="_blank">door_opening_control</a>: adaptive
controllers for simultaneous control and estimation of
kinematic parameters of sliding and revolute doors.<br>
<br>
</li>
</ul>
As well as adaptive control/kinematics estimation for tool
calibration, joint human-robot manipulation of objects, etc.<br>
<br>
Our github repo:<br>
<a moz-do-not-send="true"
href="https://github.com/kth-ros-pkg" target="_blank">https://github.com/kth-ros-pkg</a><br>
<br>
<br>
Best,<br>
<br>
Francisco<br>
<br>
<div>-- <br>
<div> <span style="">Francisco E. Viña B.</span></div>
<div> <span style="font-size:14px"><span
style="font-family:arial,helvetica,sans-serif"><var><span
style="color:rgb(128,128,128)">PhD Student at
CVAP/CAS, KTH</span></var></span></span></div>
<div> <span style="font-size:14px"><span
style="font-family:arial,helvetica,sans-serif"><var><span
style="color:rgb(128,128,128)">Teknikringen 14,
office 609</span></var></span></span></div>
<div> <span style="font-size:14px"><span
style="font-family:arial,helvetica,sans-serif"><var><span
style="color:rgb(128,128,128)">114 28 Stockholm,
Sweden.</span></var></span></span></div>
<div>
<div> <span style="font-size:14px"><span
style="font-family:arial,helvetica,sans-serif"><var><span
style="color:rgb(128,128,128)">WWW: <a
moz-do-not-send="true"
href="http://www.csc.kth.se/%7Efevb"
target="_blank">http://www.csc.kth.se/~fevb</a>
</span></var></span></span></div>
<div> <span style="font-size:14px"><span
style="font-family:arial,helvetica,sans-serif"><var><span
style="color:rgb(128,128,128)">Tel:
+46-8-790-7224</span></var></span></span></div>
</div>
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</div>
</blockquote>
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<br>
<br>
-- <br>
<div dir="ltr">
<div><span
style="color:rgb(51,51,51);font-family:arial,sans-serif;background-color:rgb(255,255,255)"><font>::
dave | 251</font></span><span
style="color:rgb(51,51,51);font-size:small">.463.2345</span><span
style="color:rgb(51,51,51);font-family:arial,sans-serif;background-color:rgb(255,255,255)"><font> c</font></span></div>
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<br>
<div class="moz-signature">-- <br>
<title>HTML Generator Sample Page</title>
<div> <span style="color:#000000;">Francisco E. Viña B.</span></div>
<div> <span style="font-size:14px;"><span style="font-family:
arial, helvetica, sans-serif;"><var><span style="color:
rgb(128, 128, 128);">PhD Student at CVAP/CAS, KTH</span></var></span></span></div>
<div> <span style="font-size:14px;"><span style="font-family:
arial, helvetica, sans-serif;"><var><span style="color:
rgb(128, 128, 128);">Teknikringen 14, office 609</span></var></span></span></div>
<div> <span style="font-size:14px;"><span style="font-family:
arial, helvetica, sans-serif;"><var><span style="color:
rgb(128, 128, 128);">114 28 Stockholm, Sweden.</span></var></span></span></div>
<div>
<div> <span style="font-size:14px;"><span style="font-family:
arial, helvetica, sans-serif;"><var><span style="color:
rgb(128, 128, 128);">WWW: <a class="moz-txt-link-freetext" href="http://www.csc.kth.se/~fevb">http://www.csc.kth.se/~fevb</a>
</span></var></span></span></div>
<div> <span style="font-size:14px;"><span style="font-family:
arial, helvetica, sans-serif;"><var><span style="color:
rgb(128, 128, 128);">Tel: +46-8-790-7224</span></var></span></span></div>
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